CN113320547A - Path detection method and device and automobile - Google Patents

Path detection method and device and automobile Download PDF

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Publication number
CN113320547A
CN113320547A CN202110802322.8A CN202110802322A CN113320547A CN 113320547 A CN113320547 A CN 113320547A CN 202110802322 A CN202110802322 A CN 202110802322A CN 113320547 A CN113320547 A CN 113320547A
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path
planned path
condition
curve
planned
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CN113320547B (en
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张超昱
赵季楠
赵永正
陈集辉
李弼超
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Guangzhou Xiaopeng Motors Technology Co Ltd
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Guangzhou Xiaopeng Autopilot Technology Co Ltd
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Priority to PCT/CN2022/105985 priority patent/WO2023284859A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/53—Road markings, e.g. lane marker or crosswalk

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The application relates to a path detection method and device and an automobile. The path detection method comprises the following steps: acquiring a planned path and boundary conditions of the planned path, wherein the planned path uses a target reference lane central line as a reference line; and comparing the boundary condition of the planned path with a detection trigger threshold, and determining that the planned path does not exceed the path limit according to the condition that the boundary condition of the planned path does not meet the detection trigger threshold. The scheme provided by the application can realize rapid detection and screening of the planned path and meet the real-time requirement of automatic driving.

Description

Path detection method and device and automobile
Technical Field
The application relates to the technical field of automatic driving, in particular to a path detection method and device and an automobile.
Background
At present, the automatic driving technology of the automobile is continuously developed. Wherein the automatic driving includes an automatic lane change function. For the automatic lane changing function, it is required to detect whether the planned transition path is within the range allowed by the lane line, and it is required that the planned transition path cannot cross the center line of the target lane for too long distance, that is, it is required to detect whether a convex hull exists on the cross-sectional path.
In the path detection method in the related art, sampling is required to be performed on a planned path, and then the relative relationship between sampling points and path restrictions is analyzed. However, the method of the related art has large calculation amount and low detection speed, and cannot meet the real-time requirement of automatic driving.
Disclosure of Invention
In order to solve or partially solve the problems in the related art, the application provides a path detection method, a path detection device and an automobile.
A first aspect of the present application provides a path detection method, including:
acquiring a planned path and boundary conditions of the planned path, wherein the planned path uses a target reference lane central line as a reference line;
and comparing the boundary condition of the planned path with a detection trigger threshold, and determining that the planned path does not exceed the path limit according to the condition that the boundary condition of the planned path does not meet the detection trigger threshold.
In an embodiment, the method further comprises:
and determining that the planned path does not exceed the path limit according to the condition that the boundary condition of the planned path meets the detection trigger threshold and the extreme value of the curve of the planned path meets the path convex hull limit condition.
In an embodiment, the method further comprises:
and determining that the planned path exceeds the path limit according to the condition that the boundary condition of the planned path meets the detection trigger threshold and the extreme value of the curve of the planned path does not meet the path convex hull limit condition.
In an embodiment, the obtaining the planned path and the boundary condition of the planned path includes:
obtaining the planning path according to the center line of the current reference lane and the center line of the target reference lane;
and acquiring the boundary condition of the planned path according to the planned path, wherein the boundary condition comprises the course and the curvature of the starting point.
In one embodiment, the boundary condition of the planned path not satisfying the detection trigger threshold includes:
after the course and the curvature of the starting point of the planned path are obtained, if the absolute value of the course and the absolute value of the curvature are smaller than a set threshold, determining that the boundary condition of the planned path does not meet the detection trigger threshold; or the like, or, alternatively,
the boundary condition of the planned path satisfying the detection trigger threshold includes:
after the course and the curvature of the starting point of the planned path are obtained, if the absolute value of the course and the absolute value of the curvature are larger than or equal to a set threshold, determining that the boundary condition of the planned path meets the detection of the trigger threshold.
In an embodiment, the extreme value of the curve of the planned path satisfies a path convex hull constraint condition, including:
when the initial position ordinate y0 of the extreme point of the curve and the half target reference lane width value D are obtained0And a limit threshold D for the vehicle to cross the center line of the target reference lane1The extreme value y of the first extreme point of the curvemaxThe extreme value y of the second extreme point of the curveminThen;
greater than 0, y at said y0maxGreater than D0And y isminIs less than-D1Determining that the extreme value of the curve of the planned path meets the restriction condition of the convex hull of the path; or the like, or, alternatively,
y is less than or equal to 0 at the y0minIs less than-D0And y ismaxGreater than D1Determining that the extreme value of the curve of the planned path meets the restriction condition of the convex hull of the path;
wherein said ymaxGreater than ymin。
In an embodiment, the extreme value of the curve of the planned path does not satisfy the path convex hull constraint condition, including:
when the initial position ordinate y0 of the extreme point of the curve and the half target reference lane width value D are obtained0And a limit threshold D for the vehicle to cross the center line of the target reference lane1The extreme value y of the first extreme point of the curvemaxThe extreme value y of the second extreme point of the curveminAnd then;
y is less than or equal to 0 at y0minGreater than or equal to-D0Determining that the extreme value of the curve of the planned path does not meet the convex hull limiting condition of the path; or the like, or, alternatively,
greater than 0 at y0 and ymaxLess than or equal to D0Determining that the extreme value of the curve of the planned path does not meet the convex hull limiting condition of the path; or the like, or, alternatively,
greater than 0, y at said y0maxGreater than D0And y isminGreater than or equal to-D1Determining that the extreme value of the curve of the planned path does not meet the convex hull limiting condition of the path; or the like, or, alternatively,
y is less than or equal to 0 at the y0minIs less than-D0And y ismaxLess than or equal to D1Determining that the extreme value of the curve of the planned path does not meet the convex hull limiting condition of the path;
wherein said ymaxGreater than ymin。
In one embodiment, the extreme value point extremum is determined as follows:
obtaining a parameter equation of a first derivative of the curve according to the parameter equation of the curve of the planned path;
and performing solution operation on a parameter equation of the first derivative of the curve to obtain the extreme value of the extreme point.
A second aspect of the present application provides a path detection apparatus, including:
the system comprises a path acquisition module, a route selection module and a route selection module, wherein the path acquisition module is used for acquiring a planned path and boundary conditions of the planned path, and the planned path uses a target reference lane central line as a reference line;
and the path detection module is used for comparing the boundary condition of the planned path with a detection trigger threshold value, and determining that the planned path does not exceed the path limit according to the condition that the boundary condition of the planned path acquired by the path acquisition module does not meet the detection trigger threshold value.
In one embodiment, the path detection module comprises:
the first judgment sub-module is used for comparing the boundary condition of the planned path with a detection trigger threshold value and judging whether the boundary condition of the planned path meets the detection trigger threshold value;
the second judgment submodule is used for judging whether the extreme value of the curve of the planned path meets the restriction condition of the convex hull of the path;
the first detection submodule is used for determining that the planned path does not exceed the path limit according to the condition that the boundary condition of the planned path does not meet the detection trigger threshold;
and the second detection submodule determines that the planned path does not exceed the path limit according to the condition that the boundary condition of the planned path meets the detection trigger threshold and the extreme point extreme value of the curve of the planned path meets the path convex hull limit condition.
In one embodiment, the path detection module further comprises:
and the third detection submodule is used for determining that the planned path exceeds the path limit according to the condition that the boundary condition of the planned path meets the detection trigger threshold and the extreme point extreme value of the curve of the planned path does not meet the path convex hull limit condition.
A third aspect of the present application provides an automobile comprising the route detection apparatus according to any one of the above embodiments.
A fourth aspect of the present application provides a non-transitory machine-readable storage medium having stored thereon executable code, which when executed by a processor of an electronic device, causes the processor to perform a method as described above.
The technical scheme provided by the application can comprise the following beneficial effects:
according to the path detection method, after a planned path and boundary conditions of the planned path are obtained, the boundary conditions of the planned path are compared with a detection trigger threshold, and the planned path is determined not to exceed a path limit according to the condition that the boundary conditions of the planned path do not meet the detection trigger threshold. By the design, the relative relation between the sampling point and the path limit is not needed to be sampled on the planned path and then analyzed, the shape of the path is determined, judgment is carried out according to the comparison between the boundary condition of the path and the detection trigger threshold, calculation is simpler, the result is more accurate, the detection and screening of the planned path can be rapidly realized, and the real-time requirement of automatic driving is met.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The foregoing and other objects, features and advantages of the application will be apparent from the following more particular descriptions of exemplary embodiments of the application, as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the application.
Fig. 1 is a schematic flowchart of a path detection method according to an embodiment of the present application;
fig. 2 is a schematic flow chart of a path detection method according to another embodiment of the present application;
FIG. 3 is a schematic flow chart illustrating the process of determining whether the extreme value of the curve of the planned path satisfies the constraint condition of the convex hull of the path in FIG. 2;
FIG. 4 is a schematic diagram of a planned path according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a path detection device according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of an electronic device shown in an embodiment of the present application.
Detailed Description
Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While embodiments of the present application are illustrated in the accompanying drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It should be understood that although the terms "first," "second," "third," etc. may be used herein to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
The path detection method in the related art needs to sample on a planned path and then analyze the relative relation between a sampling point and a path limit, so that the calculation amount is large, the detection speed is low, and the real-time requirement of automatic driving cannot be met.
In order to solve the problems, the application provides a path detection method which can realize rapid detection and screening of a planned path and meet the real-time requirement of automatic driving.
The technical solutions of the embodiments of the present application are described in detail below with reference to the accompanying drawings.
Referring to fig. 1, the path detection method of the present embodiment includes:
step S110, acquiring a planned path and a boundary condition of the planned path, wherein the planned path uses the center line of the target reference lane as a reference line.
The automatic driving process of the automobile is a process that the automobile automatically runs from a preset starting point to a preset terminal point of a road. Between the preset start point and the preset end point, a plurality of passing paths may be formed.
The step of obtaining the planned path may be obtaining the planned path according to a current reference lane center line and a target reference lane center line, wherein the planned path uses the target reference lane center line as a reference line; and acquiring the boundary conditions of the planned path according to the planned path, wherein the boundary conditions comprise the course and the curvature of the starting point.
And step S120, comparing the boundary condition of the planned path with a detection trigger threshold, and determining that the planned path does not exceed the path limit according to the condition that the boundary condition of the planned path does not meet the detection trigger threshold.
In this step, after the course and the curvature of the starting point of the planned path are obtained, if the absolute value of the course and the absolute value of the curvature are smaller than the set threshold, it is determined that the boundary condition of the planned path does not meet the detection trigger threshold. And then determining that the planned path does not exceed the path limit according to the condition that the boundary condition of the planned path does not meet the detection trigger threshold.
In addition, the planned path can be determined not to exceed the path limit according to the condition that the boundary condition of the planned path meets the detection trigger threshold and the extreme value of the curve of the planned path meets the path convex hull limit condition. After the course and the curvature of the starting point of the planned path are obtained, if the absolute value of the course and the absolute value of the curvature are greater than or equal to the set threshold, it is determined that the boundary condition of the planned path meets the detection trigger threshold.
In summary, according to the path detection method of the present application, after the planned path and the boundary condition of the planned path are obtained, the boundary condition of the planned path is compared with the detection trigger threshold, and it is determined that the planned path does not exceed the path limit according to the fact that the boundary condition of the planned path does not satisfy the detection trigger threshold. By the design, the relative relation between the sampling point and the path limit is not needed to be sampled on the planned path and then analyzed, the shape of the path is determined, judgment is carried out according to the comparison between the boundary condition of the path and the detection trigger threshold, calculation is simpler, the result is more accurate, the detection and screening of the planned path can be rapidly realized, and the real-time requirement of automatic driving is met.
For further understanding of the method of the present application, referring to fig. 2, the path detection method of the present embodiment includes:
step S210, acquiring a planned path and a boundary condition of the planned path, wherein the planned path uses the center line of the target reference lane as a reference line.
The step can be that a planned path is obtained according to the center line of the current reference lane and the center line of the target reference lane, and the boundary condition of the planned path is obtained according to the planned path. The boundary conditions of the planned path may include a heading and a curvature of a starting point of the planned path.
The method comprises the steps of obtaining a transition path C planned according to a current reference lane central line A and a target reference lane central line B, namely a planned path, wherein the planned path uses the target reference lane central line B as a reference line. The curve planned for the planned path is an nth order polynomial curve, for example a 5 th order polynomial curve, and the course and curvature of the curve end point are both 0, i.e. the first derivative of the curve end point (course) and the second derivative of the curve end point (curvature) are both 0.
The parameter equation of the curve of the planned path is y ═ f (x), y and x are coordinates of the curve of the planned path in an SL coordinate system established by taking the center line B of the target reference lane as a reference, and the schematic diagram of the planned path is shown in fig. 4.
In the embodiment of the present application, the planned coordinate system is an SL coordinate system established with reference to the center line of the target reference lane, that is, the SL coordinate system uses the center line of the target reference lane as a reference line, where S represents a longitudinal distance (i.e., a distance along the center line of the target reference lane), and L represents a lateral distance (i.e., a distance away from the center line of the target reference lane, that is, a reference line).
Step S220, determining whether the boundary condition of the planned path meets a detection trigger threshold, if so, entering step S230, and if not, entering step S260.
Wherein, the boundary condition of the planned path does not meet the detection trigger threshold, including: after the course and the curvature of the starting point of the planned path are obtained, if the absolute value of the course and the absolute value of the curvature are smaller than a set threshold, the boundary condition of the planned path is determined not to meet the detection trigger threshold.
Wherein, the boundary condition of the planned path meets the detection trigger threshold, including: after the course and the curvature of the starting point of the planned path are obtained, if the absolute value of the course and the absolute value of the curvature are larger than or equal to a set threshold, determining that the boundary condition of the planned path meets a detection trigger threshold.
That is, the course and curvature of the starting point of the planned path are obtained, and if the absolute value of the course and the absolute value of the curvature are both smaller than the set threshold (e.g., 1e-4, i.e., 1x0.0001), it indicates that the extreme point of the planned path is close to the starting point of the path, so the planned path does not need to perform convex hull detection, does not meet the detection trigger threshold, and step S260 is entered to return the result that the planned path is not overrun; otherwise, the planned path needs to be detected by the convex hull, and the detection triggering threshold is met, and the step S230 is entered to continue processing.
In step S230, an extreme value of the curve of the planned path is determined.
The extreme point position and the extreme value magnitude of the curve of the planned path can be calculated in the following way:
(1) according to the parameter equation y ═ f (x) of the curve of the planned path, the parameter equation of the first derivative of the curve is calculated
Figure BDA0003165144760000081
(2) Solving for g (x) 0 to obtain y ═ f (x), since y ═ f (x) is a polynomial of degree 5, there are four of the extreme points, which are denoted as xa,xb,xc,xdWherein they are respectively:
xa＝b＝S
xc＝(0.2·S3·a0-0.2·A+0.4·S2·v0)·B
xd＝(A+S3·ddy0+2·S2·dy0)·0.2·B
wherein:
y0, dy0, ddy0 is an initial condition of y ═ f (x), y1, dy1, ddy1 is a termination condition of y ═ f (x), S is a distance in the S direction from the start point of the curve end point of the planned path,
A＝(120·dy0·y0-120·dy0·y1+64·S·dy0·dy0+S3·ddy0·ddy0+14·S2·ddy0·dy0)·S3，
B＝1/(ddy0·S2+6·dy0·S+12·y0-12·y1)。
(3) first two extreme points xaAnd xbAre all located at the end of the curve and therefore, excluding x, only need be consideredcAnd xd. By xcAnd xdThe extreme values of the corresponding extreme points can be obtained as follows:
yc＝f(xc)
yd＝f(xd)
step S240, determining whether the extreme value of the curve of the planned path meets the restriction condition of the convex hull of the path, if so, entering step S260, and if not, entering step S250.
In step S240, it is mainly determined whether the extreme value of the curve of the planned path satisfies the constraint condition of the convex hull of the path, and the process may be as follows: judging the position x of the extreme pointcAnd xdWhether the curve is in the length range from the starting point to the end point of the curve or not, and if the curve is not in the length range, the corresponding extreme value y is determinedcOr ydSetting to 0; selection of ycAnd ydThe larger of which is set as ymaxThe smaller is set as ymin(ii) a Assume a one-half target reference lane width of D0Vehicle crossing in the target reference laneThe allowable threshold of the core line is D1Then, the following judgment is made: if the ordinate y0 of the initial position of the extreme point is greater than 0, continuing to judge ymaxWhether or not it is greater than D0And determining yminWhether or not less than-D1If one of the two judgment conditions is not satisfied, determining that the path convex hull limitation condition is not satisfied, and finally returning a result that the path is out of limit, otherwise determining that the path convex hull limitation condition is satisfied, and finally returning a result that the path is not out of limit; if the ordinate y0 of the initial position of the extreme point is less than or equal to 0 (i.e. not greater than 0), then continue to judge yminWhether or not less than-D0And determining ymaxWhether or not it is greater than D1If one of the two judgment conditions is not satisfied, the restriction condition of the convex hull of the path is determined not to be satisfied, and finally the result that the planned path is out of limit is returned, otherwise, the restriction condition of the convex hull of the path is determined to be satisfied, and finally the result that the path is not out of limit is returned.
Step S250, determining that the planned path exceeds the path limit.
This step ultimately returns the result that the planned path exceeds the path limit.
Step S260, determining that the planned path does not exceed the path limit.
This step ultimately returns the result that the planned path does not exceed the path limit.
Further referring to fig. 3, it is a schematic flow chart of the step S240 in fig. 2 that determines whether the extreme value of the curve of the planned path meets the constraint condition of the convex hull of the path. The flow in fig. 3 includes:
step S310, acquiring an initial position ordinate y0 of an extreme point of the curve and a half target reference lane width value D0And a limit threshold D for the vehicle to cross the center line of the target reference lane1First extreme point extreme value y of curvemaxExtreme value y of the second extreme point of the curveminWherein y ismaxGreater than ymin；
Step S320, judging whether y0 is greater than 0, if y0 is greater than 0, entering step S330, otherwise, entering step S360;
step S330, judging ymaxWhether or not it is greater than D0If, ifymaxIs greater than D0Step S340 is entered, otherwise, step S380 is entered;
step S340, judging yminWhether or not less than-D1If y isminIs less than-D1Step S350 is entered, otherwise, step S380 is entered;
step S350, determining that an extreme value of a curve of a planned path meets a path convex hull limiting condition;
step S360, judging yminWhether or not less than-D0If y isminIs less than-D0Step S370 is entered, otherwise, step S380 is entered;
step S370, determine ymaxWhether or not it is greater than D1If y ismaxIs greater than D1Returning to the step S350, otherwise, entering the step S380;
and step S380, determining that the extreme value of the curve of the planned path does not meet the convex hull limiting condition of the path.
In conclusion, the path detection method does not need to sample the planned path and then analyze the relative relation between the sampling point and the path limit, but determines the shape of the path, judges according to the comparison between the boundary condition of the path and the detection trigger threshold value, and judges according to the extreme point extreme value of the curve of the planned path and the path convex hull limit condition, so that the calculation is simpler, the result is more accurate, the detection and the screening of the planned path can be quickly realized, and the real-time requirement of automatic driving is met.
Corresponding to the embodiment of the application function implementation method, the application also provides a path detection device, an automobile, a non-transitory machine-readable storage medium and a corresponding embodiment.
Fig. 5 is a schematic structural diagram of a path detection device according to an embodiment of the present application.
The present application provides a path detection apparatus 50 of an embodiment, including: a path acquisition module 510 and a path detection module 520.
A path obtaining module 510, configured to obtain a planned path and boundary conditions of the planned path, where the planned path uses the center line of the target reference lane as a reference line. The path obtaining module 510 may obtain the planned path according to a current reference lane center line and a target reference lane center line, where the planned path uses the target reference lane center line as a reference line; and acquiring the boundary conditions of the planned path according to the planned path, wherein the boundary conditions comprise the course and the curvature of the starting point.
And a path detection module 520, configured to compare the boundary condition of the planned path with a detection trigger threshold, and determine that the planned path does not exceed the path limit according to that the boundary condition of the planned path does not meet the detection trigger threshold.
In an embodiment, the path detection module 520 may include: a first judgment sub-module 5201, a second judgment sub-module 5202, a first detection sub-module 5203, a second detection sub-module 5204, and a third detection sub-module 5205.
The first determining sub-module 5201 is configured to compare the boundary condition of the planned path with a detection trigger threshold, and determine whether the boundary condition of the planned path meets the detection trigger threshold;
the second determining submodule 5202 is configured to determine whether an extreme value of a curve of the planned path meets a path convex hull constraint condition;
the first detection sub-module 5203 is configured to determine, according to that the boundary condition of the planned path does not satisfy the detection trigger threshold, that the planned path does not exceed the path limit;
the second detection submodule 5204 determines that the planned path does not exceed the path limit according to the boundary condition of the planned path meeting the detection trigger threshold and the extreme value of the curve of the planned path meeting the path convex hull limit condition;
the third detection submodule 5205 is configured to determine that the planned path exceeds the path limit according to that the boundary condition of the planned path meets the detection trigger threshold, and the extreme value of the curve of the planned path does not meet the path convex hull limit condition.
After obtaining the heading and the curvature of the starting point of the planned path, the first detection sub-module 5203 may determine that the boundary condition of the planned path does not satisfy the detection trigger threshold if the absolute value of the heading and the absolute value of the curvature are smaller than the set threshold.
The second detection sub-module 5204 may be configured to, after obtaining the heading and the curvature of the starting point of the planned path, determine that the boundary condition of the planned path satisfies the detection trigger threshold if the absolute value of the heading and the absolute value of the curvature are greater than or equal to the set threshold.
The process of the second detection sub-module 5204 determining that the extreme value of the curve of the planned path satisfies the convex hull constraint condition of the path may include:
when the initial position ordinate y of the extreme point of the curve is obtained0One-half target reference lane width value D0And a limit threshold D for the vehicle to cross the center line of the target reference lane1First extreme point extreme value y of curvemaxExtreme value y of the second extreme point of the curveminThen;
at y0Greater than 0, ymaxGreater than D0And y isminIs less than-D1Determining that an extreme value of a curve of a planned path meets a path convex hull limiting condition; or the like, or, alternatively,
less than or equal to 0, y at y0minIs less than-D0And y ismaxGreater than D1Determining that an extreme value of a curve of a planned path meets a path convex hull limiting condition;
wherein y ismaxGreater than ymin。
The process of the third detection sub-module 5205 determining that the extreme value of the curve of the planned path does not satisfy the convex hull constraint of the path may include:
when the initial position ordinate y0 of the extreme point of the curve and the one-half target reference lane width value D are obtained0And a limit threshold D for the vehicle to cross the center line of the target reference lane1First extreme point extreme value y of curvemaxExtreme value y of the second extreme point of the curveminThen;
at y0Less than or equal to 0 and yminGreater than or equal to-D0Determining that the extreme value of the curve of the planned path does not meet the convex hull limiting condition of the path; or the like, or, alternatively,
greater than 0 at y0 and ymaxLess than or equal to D0Determining that the extreme value of the curve of the planned path does not meet the convex hull limiting condition of the path; or the like, or, alternatively,
greater than 0, y at y0maxGreater than D0And y isminGreater than or equal to-D1Determining that the extreme value of the curve of the planned path does not meet the convex hull limiting condition of the path; or the like, or, alternatively,
at y0Less than or equal to 0, yminIs less than-D0And y ismaxLess than or equal to D1Determining that the extreme value of the curve of the planned path does not meet the convex hull limiting condition of the path;
wherein y ismaxGreater than ymin。
The extreme value of the extreme point may be determined as follows: obtaining a parameter equation of a first derivative of a curve according to a parameter equation of the curve of the planned path; and solving and operating the parameter equation of the first derivative of the curve to obtain an extreme value point extreme value.
In summary, after the planned path is acquired, the path detection apparatus determines that the planned path does not exceed the path limit according to the fact that the boundary condition of the planned path does not satisfy the detection trigger threshold. By the design, the relative relation between the sampling point and the path limit is not needed to be sampled on the planned path and then analyzed, the shape of the path is determined, judgment is carried out according to the comparison between the boundary condition of the path and the detection trigger threshold, calculation is simpler, the result is more accurate, the detection and screening of the planned path can be rapidly realized, and the real-time requirement of automatic driving is met.
The application further provides an automobile which comprises the path detection device of any one of the embodiments. The function and structure of the path detection device can be seen from the description in fig. 5, and are not described in detail here.
Referring to fig. 6, the present application further provides an electronic device 600, the electronic device 600 comprising a memory 610 and a processor 620. The memory 610 has stored thereon executable code that, when executed by the processor 620, causes the processor 620 to perform the path detection method described in any of the embodiments above.
The Processor 620 may be a Central Processing Unit (CPU), other general-purpose Processor 620, a Digital Signal Processor 620 (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, or the like. The general purpose processor 620 may be a microprocessor 620 or the processor 620 may be any conventional processor 620 or the like.
The memory 610 may include various types of storage units such as system memory, read only memory 610(ROM), and permanent storage systems. Wherein the ROM may store static data or instructions that are required by the processor 620 or other modules of the computer. The persistent storage system may be a readable and writable storage system. The persistent storage system may be a non-volatile storage device that does not lose stored instructions and data even after the computer is powered off. In some embodiments, the persistent storage system employs a mass storage system (e.g., magnetic or optical disk, flash memory) as the persistent storage system. In other embodiments, the persistent storage system may be a removable storage device (e.g., floppy disk, optical drive). The system memory may be a read-write memory device or a volatile read-write memory device, such as a dynamic random access memory. The system memory may store instructions and data that some or all of processor 620 needs during runtime. In addition, the memory 610 may include any combination of computer-readable storage media, including various types of semiconductor memory chips (DRAM, SRAM, SDRAM, flash, programmable read only memory 610), magnetic and/or optical disks, may also be employed. In some embodiments, memory 610 may include a removable storage device that is readable and/or writable, such as a Compact Disc (CD), a digital versatile disc read only (e.g., DVD-ROM, dual layer DVD-ROM), a Blu-ray disc read only, an ultra-dense disc, a flash memory card (e.g., SD card, min SD card, Micro-SD card, etc.), a magnetic floppy disk, or the like. Computer-readable storage media do not contain carrier waves or transitory electronic signals transmitted by wireless or wired means.
The memory 610 has stored thereon executable code that, when processed by the processor 620, may cause the processor 620 to perform some or all of the methods described above.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
Furthermore, the method according to the present application may also be implemented as a computer program or computer program product comprising computer program code instructions for performing some or all of the steps of the above-described method of the present application.
Alternatively, the present application may also be embodied as a non-transitory machine-readable storage medium (or computer-readable storage medium, or machine-readable storage medium) having stored thereon executable code (or a computer program, or computer instruction code) which, when executed by a processor of an electronic device (or electronic device, server, etc.), causes the processor to perform some or all of the various steps of the above-described methods in accordance with the present application.
Having described embodiments of the present application, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims (13)

1. A method for path detection, comprising:
acquiring a planned path and boundary conditions of the planned path, wherein the planned path uses a target reference lane central line as a reference line;
and comparing the boundary condition of the planned path with a detection trigger threshold, and determining that the planned path does not exceed the path limit according to the condition that the boundary condition of the planned path does not meet the detection trigger threshold.
2. The path detection method according to claim 1, characterized in that the method further comprises:
and determining that the planned path does not exceed the path limit according to the condition that the boundary condition of the planned path meets the detection trigger threshold and the extreme value of the curve of the planned path meets the path convex hull limit condition.
3. The path detection method according to claim 1 or 2, characterized in that the method further comprises:
and determining that the planned path exceeds the path limit according to the condition that the boundary condition of the planned path meets the detection trigger threshold and the extreme value of the curve of the planned path does not meet the path convex hull limit condition.
4. The method according to claim 1, wherein the obtaining of the planned path and the boundary condition of the planned path comprises:
obtaining the planning path according to the center line of the current reference lane and the center line of the target reference lane;
and acquiring the boundary condition of the planned path according to the planned path, wherein the boundary condition comprises the course and the curvature of the starting point.
5. The path detection method according to claim 2, characterized in that:
the boundary condition of the planned path not meeting the detection trigger threshold includes:
after the course and the curvature of the starting point of the planned path are obtained, if the absolute value of the course and the absolute value of the curvature are smaller than a set threshold, determining that the boundary condition of the planned path does not meet the detection trigger threshold; or the like, or, alternatively,
the boundary condition of the planned path satisfying the detection trigger threshold includes:
after the course and the curvature of the starting point of the planned path are obtained, if the absolute value of the course and the absolute value of the curvature are larger than or equal to a set threshold, determining that the boundary condition of the planned path meets the detection trigger threshold.
6. The method according to claim 2, wherein the extreme value of the curve of the planned path satisfies a path convex hull constraint condition, and comprises:
when the initial position ordinate y of the extreme point of the curve is obtained0One-half target reference lane width value D0And a limit threshold D for the vehicle to cross the center line of the target reference lane1The extreme value y of the first extreme point of the curvemaxThe extreme value y of the second extreme point of the curveminAfter that time, the user can use the device,
at said y0Greater than 0, ymaxGreater than D0And y isminIs less than-D1Determining that the extreme value of the curve of the planned path meets the restriction condition of the convex hull of the path; or the like, or, alternatively,
at said y0Less than or equal to 0, yminIs less than-D0And y ismaxGreater than D1Determining that the extreme value of the curve of the planned path meets the restriction condition of the convex hull of the path;
wherein said ymaxGreater than ymin。
7. The method according to claim 3, wherein the extreme value of the curve of the planned path does not satisfy a path convex hull constraint condition, and comprises:
when the initial position ordinate y of the extreme point of the curve is obtained0One-half target reference lane width value D0And a limit threshold D for the vehicle to cross the center line of the target reference lane1The curveFirst extreme point extreme value y ofmaxThe extreme value y of the second extreme point of the curveminAfter that time, the user can use the device,
at said y0Less than or equal to 0 and yminGreater than or equal to-D0Determining that the extreme value of the curve of the planned path does not meet the convex hull limiting condition of the path; or the like, or, alternatively,
at said y0Greater than 0 and ymaxLess than or equal to D0Determining that the extreme value of the curve of the planned path does not meet the convex hull limiting condition of the path; or the like, or, alternatively,
at said y0Greater than 0, ymaxGreater than D0And y isminGreater than or equal to-D1Determining that the extreme value of the curve of the planned path does not meet the convex hull limiting condition of the path; or the like, or, alternatively,
at said y0Less than or equal to 0, yminIs less than-D0And y ismaxLess than or equal to D1Determining that the extreme value of the curve of the planned path does not meet the convex hull limiting condition of the path;
wherein said ymaxGreater than ymin。
8. The path detection method according to claim 2, wherein the extreme value is determined in the following manner:
obtaining a parameter equation of a first derivative of the curve according to the parameter equation of the curve of the planned path;
and performing solution operation on a parameter equation of the first derivative of the curve to obtain the extreme value of the extreme point.
9. A path detection device, comprising:
the system comprises a path acquisition module, a route selection module and a route selection module, wherein the path acquisition module is used for acquiring a planned path and boundary conditions of the planned path, and the planned path uses a target reference lane central line as a reference line;
and the path detection module is used for comparing the boundary condition of the planned path with a detection trigger threshold value, and determining that the planned path does not exceed the path limit according to the condition that the boundary condition of the planned path acquired by the path detection module does not meet the detection trigger threshold value.
10. The path detection device according to claim 9, wherein the path detection module comprises:
the first judgment sub-module is used for comparing the boundary condition of the planned path with a detection trigger threshold value and judging whether the boundary condition of the planned path meets the detection trigger threshold value;
the second judgment submodule is used for judging whether the extreme value of the curve of the planned path meets the restriction condition of the convex hull of the path;
the first detection submodule is used for determining that the planned path does not exceed the path limit according to the condition that the boundary condition of the planned path judged by the first judgment submodule does not meet the detection trigger threshold;
and the second detection submodule determines that the planned path does not exceed the path limit according to the condition that the boundary condition of the planned path judged by the first judgment submodule meets the detection trigger threshold and the extreme point extreme value of the curve of the planned path judged by the second judgment submodule meets the path convex hull limit condition.
11. The path detection device according to claim 10, wherein the path detection module further comprises:
and the third detection submodule is used for determining that the planned path exceeds the path limit according to the condition that the boundary condition of the planned path judged by the first judgment submodule meets the detection trigger threshold and the extreme point extreme value of the curve of the planned path judged by the second judgment submodule does not meet the path convex hull limit condition.
12. A vehicle, characterized by a path detecting device according to any one of claims 9-11.
13. A non-transitory machine-readable storage medium having stored thereon executable code, which when executed by a processor of an electronic device, causes the processor to perform the method of any one of claims 1-8.
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